gsoc: Add SLAM extension and passthrough project ideas for GSoC 2023

gsoc-2023.md

@@ -97,6 +97,77 @@ Difficulty: medium
 
 Project Size : Small (\~150 hours)
 
+## Visual-inertial tracking module expansion
+
+This is mostly an integration task that will make the visual-inertial tracking
+module more versatile and usable for more people. The student will learn a lot
+about build systems, dependency management, CMake, C++, etc, for Linux, Windows,
+and Android.
+
+One of the halves of this project is integrating two tracking systems: DM-VIO
+and SVO Pro. DM-VIO (GPL) is one of, if not the best monocular-IMU system, even
+competing with stereo-camera systems. If we plan to make our tracking work on
+phones, this looks like a very good starting point. SVO Pro looks like one of
+the SLAM systems with more polishing out there implementing very cool
+techniques. I think it has a good chance of competing or even surpassing what we
+have currently, and would be nice to have that as a comparison point for our own
+system.
+
+The other half is dedicated to platform support. Currently, our tracking module
+only runs on Linux. Basalt is the underlying SLAM system we use and we need it
+running on Windows and Android; many Monado users have asked for this. The idea
+is to run camera-IMU datasets through the entire monado-basalt pipeline on both
+platforms.
+
+If time remains, and as a stretch goal, expanding and adapting the current
+Android driver in Monado to make it feasible to run the just-integrated Basalt
+tracking would be awesome!
+
+Deliverables:
+* At least two of the following four points:
+  * DM-VIO running EuRoC datasets through Monado on Linux
+  * SVO Pro running EuRoC datasets through Monado on Linux
+  * Basalt running EuRoC datasets through Monado on Windows
+  * Basalt running EuRoC datasets through Monado on Android
+* Optionally, expansion of the Android driver with more sensor information for visual-inertial tracking.
+
+Requirements:
+* Some C/C++ experience
+* Some understanding on how to use multithreading primitives
+* Basic understanding of C/C++ build procedures
+* Available Linux/Windows/Android devices depending on which points will be addressed.
+* Experience in either C++, CMake, pkgconfig, Linux/Windows/Android building is a plus.
+
+Difficulty: medium
+
+Project Size : Large (\~350 hours)
+
+## Passthrough
+
+Passthrough for VR is an essential feature in current headsets which have
+multiple cameras available on them. It lets the VR application project the
+video feed from the cameras into meshes so that the user can be still be aware
+of its surroundings and interact with them while they are in the VR experience.
+
+This is also one of the base features needed to be able to have a proper room
+setup in Monado. Furthermore, if we manage to do full FoV passthrough, that will
+be a key way of observing drift and accuracy in our visual-inertial tracking
+systems. The student will learn about OpenXR, Monado, C, C++, and some computer
+graphics/vision basics.
+
+Deliverables:
+* Implementation of one of the OpenXR passthrough extension in Monado
+* Simple OpenXR application that uses this extension
+* A module to stream a video feed for passthrough that is easy to reuse in other drivers
+* Stream video either from a webcam or a video file.
+
+Requirements:
+* C/C++ experience
+* Linux experience
+
+Difficulty: medium
+
+Project Size : Large (\~350 hours)
 
 ## Your own idea